Stars
Analytical inverse kinematics for 6R and 7R revolute arms. Returns every IK branch at machine-precision FK closure. Ships per-arm build artifacts; covers non-Pieper 6R and non-SRS 7R geometries.
FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
[ICRA 2026] ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation
[ICRA 2026] AdaptPNP: Integrating Prehensile and Non-Prehensile Skills for Adaptive Robotic Manipulation
Grounded SAM 2: Ground and Track Anything in Videos with Grounding DINO, Florence-2 and SAM 2
[ICCV 2025] DyWA:Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation
[ICRA 2026] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.
Robust and Ultrafast Square-Root Filter-based 3D Motion Tracking
CS5647 Project
RL code for training piano-playing policies for RoboPianist.
[CoRL '23] Dexterous piano playing with deep reinforcement learning.
[CoRL '23] Dexterous piano playing with deep reinforcement learning.
implementation of the paper "Learning Generalizable Language-Conditioned Cloth Manipulation from Long Demonstrations".
Design files for the DIGIT tactile sensor
[CVPR 2025 Best Paper Award] VGGT: Visual Geometry Grounded Transformer
Unofficial pytorch implementation of the model proposed in Deep ChArUco: Dark ChArUco Marker Pose Estimation CVPR2019 https://arxiv.org/abs/1812.03247 for ChArUco board localization.
The source code of the paper "Leveraging Pre-trained Large Language Models to Construct and Utilize World Models for Model-based Task Planning".
An interactive git visualization and tutorial. Aspiring students of git can use this app to educate and challenge themselves towards mastery of git!
[NeurIPS 2025 Spotlight 🎊] DexGarmentLab: Dexterous Garment Manipulation Environment with Generalizable Policy
Unified framework for robot learning built on NVIDIA Isaac Sim
A large-scale benchmark and learning environment.
UFACTORY model support for RL environment simulation, based on panda-gym framework